ROS 2 Humble Hawksbill 图形工具 rqt
【摘要】
rqt包全家福：
ros-humble-rqt-action ros-humble-rqt-image-overlay-dbgsym ros-humble-rqt-robot-dashboardros-humble-rqt-bag ros-humble-rqt-ima...
rqt包全家福：
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ros-humble-rqt-action ros-humble-rqt-image-overlay-dbgsym ros-humble-rqt-robot-dashboard
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ros-humble-rqt-bag ros-humble-rqt-image-overlay-layer ros-humble-rqt-robot-monitor
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ros-humble-rqt-bag-plugins ros-humble-rqt-image-view ros-humble-rqt-robot-steering
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ros-humble-rqt-common-plugins ros-humble-rqt-image-view-dbgsym ros-humble-rqt-runtime-monitor
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ros-humble-rqt-console ros-humble-rqt-moveit ros-humble-rqt-service-caller
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ros-humble-rqt-graph ros-humble-rqt-msg ros-humble-rqt-shell
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ros-humble-rqt-gui ros-humble-rqt-plot ros-humble-rqt-srv
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ros-humble-rqt-gui-cpp ros-humble-rqt-publisher ros-humble-rqt-top
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ros-humble-rqt-gui-cpp-dbgsym ros-humble-rqt-py-common ros-humble-rqt-topic
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ros-humble-rqt-gui-py ros-humble-rqt-py-console
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ros-humble-rqt-image-overlay ros-humble-rqt-reconfigure
输入rqt即可使用，全部窗口操作。
简介：rqt 是一个 GUI 框架，能够将各种插件工具加载为可停靠窗口。 当前没有选择插件。 要添加插件，请从插件菜单中选择项目。还可以使用 Perspectives 菜单将插件的特定排列保存为透视图。
插件有如下：
以concole为例，ROS 2 的记录器级别按严重性排序：
- Fatal
- Error
- Warn
- Info
- Debug
每个级别表示的内容没有确切的标准，但可以安全地假设：
- 致命消息Fatal表明系统将终止以试图保护自己免受损害。
- 错误消息Error表明重大问题不一定会损坏系统，但会阻止系统正常运行。
- 警告消息Warn表示可能代表更深层次问题的意外活动或非理想结果，但不会直接损害功能。
- 信息消息Info指示事件和状态更新，作为系统按预期运行的视觉验证。
- 调试消息Debug详细说明了系统执行的整个逐步过程。
默认级别为信息。 只会看到默认严重级别和更严重级别的消息。
通常，只有 Debug 消息被隐藏，因为它们是唯一没有 Info 严重的级别。 例如，如果将默认级别设置为 Warn，将只能看到严重性为 Warn、Error 和 Fatal 的消息。
例如将小乌龟节点设置级别：
ros2 run turtlesim turtlesim_node --ros-args --log-level WARN
对比如下两段代码分别用Python和C++实现类似功能：
Python
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import os
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from python_qt_binding.QtCore import qDebug, qWarning
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from qt_gui.composite_plugin_provider import CompositePluginProvider
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import rclpy
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from rqt_gui.ros2_plugin_context import Ros2PluginContext
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from rqt_gui.rospkg_plugin_provider import RospkgPluginProvider
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from rqt_gui_py.rclpy_spinner import RclpySpinner
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class RosPyPluginProvider(CompositePluginProvider):
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def __init__(self):
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super(RosPyPluginProvider, self).__init__(
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[RospkgPluginProvider('rqt_gui', 'rqt_gui_py::Plugin')])
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self.setObjectName('RosPyPluginProvider')
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self._node_initialized = False
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self._node = None
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self._spinner = None
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self._shutdown_timeout = 2000
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def shutdown(self):
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qDebug('Shutting down RosPyPluginProvider')
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if self._spinner:
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self._spinner.quit()
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joined = self._spinner.wait(msecs=self._shutdown_timeout)
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if not joined:
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qWarning('Timed out attempting to join the RclpySpinner thread')
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return
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if self._node:
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self._destroy_node()
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super().shutdown()
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def load(self, plugin_id, plugin_context):
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self._init_node()
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ros_plugin_context = Ros2PluginContext(handler=plugin_context._handler, node=self._node)
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return super(RosPyPluginProvider, self).load(plugin_id, ros_plugin_context)
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def unload(self, plugin_instance):
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return super(RosPyPluginProvider, self).unload(plugin_instance)
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def _init_node(self):
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# initialize node once
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if not self._node_initialized:
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name = 'rqt_gui_py_node_%d' % os.getpid()
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qDebug('RosPyPluginProvider._init_node() initialize ROS node "%s"' % name)
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if not rclpy.ok():
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rclpy.init()
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self._node = rclpy.create_node(name)
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self._spinner = RclpySpinner(self._node)
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self._spinner.start()
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self._node_initialized = True
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def _destroy_node(self):
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if self._node_initialized:
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self._node.destroy_node()
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rclpy.shutdown()
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self._node_initialized = False
C++
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#include "roscpp_plugin_provider.h"
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#include "nodelet_plugin_provider.h"
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#include <rqt_gui_cpp/plugin.h>
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#include <qt_gui_cpp/plugin_provider.h>
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#include <rclcpp/rclcpp.hpp>
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#include <pluginlib/class_list_macros.hpp>
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#include <stdexcept>
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#include <sys/types.h>
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namespace rqt_gui_cpp {
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RosCppPluginProvider::RosCppPluginProvider()
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: qt_gui_cpp::CompositePluginProvider()
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, rclcpp_initialized_(false)
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{
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if (rclcpp::ok())
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{
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rclcpp_initialized_ = true;
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}
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init_rclcpp();
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QList<PluginProvider*> plugin_providers;
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plugin_providers.append(new NodeletPluginProvider("rqt_gui", "rqt_gui_cpp::Plugin"));
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set_plugin_providers(plugin_providers);
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}
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RosCppPluginProvider::~RosCppPluginProvider()
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{
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if (rclcpp::ok())
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{
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rclcpp::shutdown();
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}
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}
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void* RosCppPluginProvider::load(const QString& plugin_id, qt_gui_cpp::PluginContext* plugin_context)
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{
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qDebug("RosCppPluginProvider::load(%s)", plugin_id.toStdString().c_str());
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init_rclcpp();
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return qt_gui_cpp::CompositePluginProvider::load(plugin_id, plugin_context);
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}
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qt_gui_cpp::Plugin* RosCppPluginProvider::load_plugin(const QString& plugin_id, qt_gui_cpp::PluginContext* plugin_context)
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{
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qDebug("RosCppPluginProvider::load_plugin(%s)", plugin_id.toStdString().c_str());
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init_rclcpp();
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return qt_gui_cpp::CompositePluginProvider::load_plugin(plugin_id, plugin_context);
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}
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void RosCppPluginProvider::init_rclcpp()
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{
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// initialize ROS node once
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if (!rclcpp_initialized_)
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{
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int argc = 0;
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char** argv = 0;
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// Initialize any global resources needed by the middleware and the client library.
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// This will also parse command line arguments one day (as of Beta 1 they are not used).
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// You must call this before using any other part of the ROS system.
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// This should be called once per process.
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rclcpp::init(argc, argv);
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// Don't do this again in this process
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rclcpp_initialized_ = true;
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}
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}
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}
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PLUGINLIB_EXPORT_CLASS(rqt_gui_cpp::RosCppPluginProvider, qt_gui_cpp::PluginProvider)
文章来源: zhangrelay.blog.csdn.net，作者：zhangrelay，版权归原作者所有，如需转载，请联系作者。
原文链接：zhangrelay.blog.csdn.net/article/details/125004286
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